相关论文: Accurate Simulation and Parameter Identification o…

DeepWarp is an efficient and highly re-usable deep neural network (DNN) based nonlinear deformable simulation framework. Unlike other deep learning applications such as image recognition, where different inputs have a uniform and consistent…

Linear reduced-order modeling (ROM) simplifies complex simulations by approximating the behavior of a system using a simplified kinematic representation. Typically, ROM is trained on input simulations created with a specific spatial…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

In the realm of robotic cloth manipulation, accurately estimating the cloth state during or post-execution is imperative. However, the inherent complexities in a cloth's dynamic behavior and its near-infinite degrees of freedom (DoF) pose…

Recent advances in GPU-based parallel simulation have enabled practitioners to collect large amounts of data and train complex control policies using deep reinforcement learning (RL), on commodity GPUs. However, such successes for RL in…

Diffusion models have emerged as powerful generative priors for solving PDE-constrained inverse problems. Compared to end-to-end approaches relying on massive paired datasets, explicitly decoupling the prior distribution of physical…

Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches…

In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…

Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a testing setup that can manipulate many degrees of freedom…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space…

Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…

Deep Learning has become exceptionally popular in the last few years due to its success in computer vision and other fields of AI. However, deep neural networks are computationally expensive, which limits their application in low power…

Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but also more difficult to accurately model and control. The…

We propose a non-intrusive Deep Learning-based Reduced Order Model (DL-ROM) capable of capturing the complex dynamics of mechanical systems showing inertia and geometric nonlinearities. In the first phase, a limited number of high fidelity…

In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…

Albeit revealing impressive predictive performance for several computer vision tasks, deep neural networks (DNNs) are prone to making overconfident predictions. This limits the adoption and wider utilization of DNNs in many safety-critical…

In this paper, we introduce Dynamic Layer Operations (DLO), a novel approach for vertically scaling transformer-based Large Language Models (LLMs) by dynamically expanding, activating, or skipping layers using a sophisticated routing policy…